config.json

{
  "model_type": "dexbotic_dm0",
  "action_dim": 32,
  "chunk_size": 50,
  "ar_loss": true,
  "fm_loss": true,
  "ar_loss_weight": 1.0,
  "image_aspect_ratio": "pad",
  "mm_hidden_size": 1152,
  "mm_projector_type": "linear4x",
  "tokenizer_model_max_length": 2048,
  "tokenizer_padding_side": "right",
  "use_cache": false,
  "use_mm_proj": true,
  "mm_vision_tower": "pe_lang_l14_728",
  "llm_config": {
    "model_type": "qwen3",
    "hidden_size": 2048,
    "intermediate_size": 6144,
    "num_attention_heads": 16,
    "num_hidden_layers": 28,
    "num_key_value_heads": 8,
    "head_dim": 128,
    "hidden_act": "silu",
    "max_position_embeddings": 40960,
    "rms_norm_eps": 1e-06,
    "rope_theta": 1000000,
    "vocab_size": 152701,
    "bos_token_id": 151643,
    "eos_token_id": 151645,
    "attention_bias": false,
    "attention_dropout": 0.0
  },
  "action_config": {
    "model_type": "qwen3",
    "hidden_size": 1024,
    "intermediate_size": 1536,
    "num_attention_heads": 16,
    "num_hidden_layers": 28,
    "num_key_value_heads": 8,
    "head_dim": 128,
    "hidden_act": "silu",
    "max_position_embeddings": 40960,
    "rms_norm_eps": 1e-06,
    "rope_theta": 1000000,
    "vocab_size": 151936,
    "bos_token_id": 151643,
    "eos_token_id": 151645,
    "attention_bias": false,
    "attention_dropout": 0.0
  }
}